A new proof for the convergence of Picard's filter using partial Malliavin calculus

The discrete-time approximation for nonlinear filtering problems is related to both of strong and weak approximations of stochastic differential equations. In this paper, we propose a new method of proof for the convergence of approximate nonlinear filter analyzed by Jean Picard (1984), and show a more general result than the original one. For the proof, we develop an analysis of Hilbert space valued functionals on Wiener space.